3.3.3 Ignition Gazebo与ROS2集成之ros_gz_bridge

ros_gz_bridge是连接ROS2与Ignition Gazebo的桥梁，ROS2与Ignition Gazebo使用的消息并不兼容，必须通过ros_gz_bridge进行转换。

1.ros_gz_bridge使用语法

ROS2与Ignition Gazebo的桥接是通过ros_gz_bridge包中的parameter_bridge节点实现，其使用语法如下：

parameter_bridge [<topic@ROS2_type@Ign_type> ..]  [<service@ROS2_srv_type[@Ign_req_type@Ign_rep_type]> ..]

在话题中，第一个@符号是话题名称和消息类型的分隔符。第一个@符号后面是ROS消息类型。ROS消息类型后面是@、[或]符号：

  • @表示双向桥接；
  • [表示从Ignition Gazebo到ROS的桥接；
  • ]表示从ROS到Ignition Gazebo的桥接。

方向符号后是Gazebo Transport消息类型。

在服务中，第一个@符号是服务名称和类型的分隔符。第一个@符号后面是ROS服务类型。可以选择地包括Gazebo请求和响应类型，在它们之间用@符号分隔。仅支持将Gazebo服务公开为ROS服务，即ROS服务将请求转发到Gazebo服务，然后将响应转发回ROS客户端。

双向桥接示例：

parameter_bridge /chatter@std_msgs/String@gz.msgs.StringMsg

从Gazebo到ROS的桥接示例：

parameter_bridge /chatter@std_msgs/String[gz.msgs.StringMsg

从ROS到Gazebo的桥接示例：

parameter_bridge /chatter@std_msgs/String]gz.msgs.StringMsg

服务桥接示例：

parameter_bridge /world/default/control@ros_gz_interfaces/srv/ControlWorld
或者：
parameter_bridge /world/default/control@ros_gz_interfaces/srv/ControlWorld@gz.msgs.WorldControl@gz.msgs.Boolean

也可以运行ros2 run ros_gz_bridge parameter_bridge -h指令查看官方说明文档。

2.ros_gz_bridge支持的消息类型

以下是ROS2与Ignition Gazebo中话题消息类型对应表：

ROS2消息类型 Gazebo Transport 类型
builtin_interfaces/msg/Time gz.msgs.Time
geometry_msgs/msg/Point gz.msgs.Vector3d
geometry_msgs/msg/Pose gz.msgs.Pose
geometry_msgs/msg/PoseArray gz.msgs.Pose_V
geometry_msgs/msg/PoseStamped gz.msgs.Pose
geometry_msgs/msg/PoseWithCovariance gz.msgs.PoseWithCovariance
geometry_msgs/msg/Quaternion gz.msgs.Quaternion
geometry_msgs/msg/Transform gz.msgs.Pose
geometry_msgs/msg/TransformStamped gz.msgs.Pose
geometry_msgs/msg/Twist gz.msgs.Twist
geometry_msgs/msg/TwistWithCovariance gz.msgs.TwistWithCovariance
geometry_msgs/msg/TwistWithCovarianceStamped gz.msgs.TwistWithCovariance
geometry_msgs/msg/Vector3 gz.msgs.Vector3d
geometry_msgs/msg/Wrench gz.msgs.Wrench
geometry_msgs/msg/WrenchStamped gz.msgs.Wrench
nav_msgs/msg/Odometry gz.msgs.Odometry
nav_msgs/msg/Odometry gz.msgs.OdometryWithCovariance
rcl_interfaces/msg/ParameterValue gz.msgs.Any
ros_gz_interfaces/msg/Altimeter gz.msgs.Altimeter
ros_gz_interfaces/msg/Contact gz.msgs.Contact
ros_gz_interfaces/msg/Contacts gz.msgs.Contacts
ros_gz_interfaces/msg/Dataframe gz.msgs.Dataframe
ros_gz_interfaces/msg/Entity gz.msgs.Entity
ros_gz_interfaces/msg/Float32Array gz.msgs.Float_V
ros_gz_interfaces/msg/GuiCamera gz.msgs.GUICamera
ros_gz_interfaces/msg/JointWrench gz.msgs.JointWrench
ros_gz_interfaces/msg/Light gz.msgs.Light
ros_gz_interfaces/msg/SensorNoise gz.msgs.SensorNoise
ros_gz_interfaces/msg/StringVec gz.msgs.StringMsg_V
ros_gz_interfaces/msg/TrackVisual gz.msgs.TrackVisual
ros_gz_interfaces/msg/VideoRecord gz.msgs.VideoRecord
ros_gz_interfaces/msg/WorldControl gz.msgs.WorldControl
rosgraph_msgs/msg/Clock* gz.msgs.Clock*
sensor_msgs/msg/BatteryState gz.msgs.BatteryState
sensor_msgs/msg/CameraInfo gz.msgs.CameraInfo
sensor_msgs/msg/FluidPressure gz.msgs.FluidPressure
sensor_msgs/msg/Image gz.msgs.Image
sensor_msgs/msg/Imu gz.msgs.IMU
sensor_msgs/msg/JointState gz.msgs.Model
sensor_msgs/msg/Joy gz.msgs.Joy
sensor_msgs/msg/LaserScan gz.msgs.LaserScan
sensor_msgs/msg/MagneticField gz.msgs.Magnetometer
sensor_msgs/msg/NavSatFix gz.msgs.NavSat
sensor_msgs/msg/PointCloud2 gz.msgs.PointCloudPacked
std_msgs/msg/Bool gz.msgs.Boolean
std_msgs/msg/ColorRGBA gz.msgs.Color
std_msgs/msg/Empty gz.msgs.Empty
std_msgs/msg/Float32 gz.msgs.Float
std_msgs/msg/Float64 gz.msgs.Double
std_msgs/msg/Header gz.msgs.Header
std_msgs/msg/Int32 gz.msgs.Int32
std_msgs/msg/String gz.msgs.StringMsg
std_msgs/msg/UInt32 gz.msgs.UInt32
tf2_msgs/msg/TFMessage gz.msgs.Pose_V
trajectory_msgs/msg/JointTrajectory gz.msgs.JointTrajectory

以及服务消息类型对应表：

ROS2消息类型 Gazebo 请求 Gazebo 响应
ros_gz_interfaces/srv/ControlWorld gz.msgs.WorldControl gz.msgs.Boolean

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